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#MPI Drive Parameters
#"Kollmorgen CD" "1.3.4" "1.3.5"
#parameters
0x01 MBEMFCOMP rw signed16 {1~100} 0 "Back EMF compensation percentage"
0x02 DICONT ro signed16 {10~1100} 0 "Drive rated continuous current"
0x03 DIPEAK ro signed16 {10~1100} 0 "Drive rated peak current"
0x04 ICONT rw signed16 {0~1000} 0 "Application rated continuous current"
0x05 ILIM rw signed16 {0~1000} 0 "Application current limit"
0x06 IMAX ro signed16 {0~1000} 0 "System current limit"
0x07 MENCRES rw signed32 {100~10000000} 0 "Motor Encoder Resolution"
0x08 MENCOFF rw signed32 {0~2147483647} 0 "Encoder Index position"
0x09 MICONT rw signed16 {0~11750} 0 "Motor Continous Current"
0x0A MIPEAK rw signed16 {10~3500} 0 "Motor Peak Current"
0x0B MKT rw signed16 {16~64506} 0 "Motor Torque Constant"
0x0C MLGAINC rw signed16 {1~100} 8 "Continous Current Adaptive Gain"
0x0D MLGAINP rw signed16 {1~100} 4 "Peak Current Adaptive Gain"
0x0E MLMIN rw signed16 {1~32767} 0 "Motor Minimum Inductance"
0x0F MPHASE rw signed16 {1~359} 0 "Encoder phase relative to standard"
0x10 MPOLES rw signed16 {2,4,6,8,10} 0 "Motor Poles"
0x11 MSPEED rw signed16 {6~17464} 0 "Maximum Motor speed"
0x12 MTANGLC rw signed16 {0~45} 10 "Continous Torque Commutation Advance"
0x13 MTANGLP rw signed16 {0~45} 23 "Peak Torque Commutation Advance"
0x14 MVANGLF rw signed16 {0~90} 0 "Continous Velocity Advance"
0x15 MVANGLH rw signed16 {0~90} 0 "Peak Velocity Advance"
0x16 PWMFRQ ro signed16 {8,16} 0 "PWM Frequency"
0x17 VBUS rw signed16 {10~850} 24 "Bus Voltage"
0x18 VER ro unsigned32 {*} 0 "Firmware version"
0x19 PFB rw signed32 {*} 0 "Position feedback"
0x1A DIVN rw unsigned16 {*} 0 "Divide By N Period"
0x1B DIVNDIR rw enumerated {0=negative,1=positive} 0 "Divide By N Direction"
0x1C DIVNSTART rw signed32 {*} 0 "Divide By N Start Position"
0x1D DIVNSTOP rw signed32 {*} 0 "Divide By N Stop Position"
0x1E MHINVA rw enumerated {0=not_invert,1=invert} 0 "Hall A Invert"
0x1F MHINVB rw enumerated {0=not_invert,1=invert} 0 "Hall B Invert"
0x20 MHINVC rw enumerated {0=not_invert,1=invert} 0 "Hall C Invert"
0x21 IN ro mask {1=CW,2=CCW,4=Home} 0 "State of Digital Inputs"
0x23 MPITCH rw signed16 {1~500} 0 "Pole-Pitch Distance"
0x24 MENCTYPE rw enumerated {0=ABZ_Halls,4=AB_WNS, 6=AB_Halls} 0 "Motor Encoder Type"
0x25 REMOTE ro enumerated {0=Off,1=On} 0 "State of external hardware enable input"
0x26 DIVNSPD rw signed16 {*} 2 "Maximum speed DIVCFG will work"
0x27 MOTORTYPE rw enumerated {0=Rotary,2=Linear,3=Rotary_AKM} 0 "Motor Type"
0x28 VLIM rw signed16 {10~32767} 10 "maximum velocity"
0x29 MFBDIR rw mask {1=PRD_Direction,2=PFB_Direction,4=Reverse_Initial_Commutation} 0 "Motor Feedback direction"
0x2A ANOFF1 rw signed16 {0~0xFFF0} 0 "Analog input 1 offset"
0x2B ANOFF2 rw signed16 {0~0xFFF0} 0 "Analog input 2 offset"
0x2C ANIN1 ro signed16 {-10000~10000} 0 "Analog input 1 value"
0x2D ANIN2 ro signed16 {-10000~10000} 0 "Analog input 2 value"
0x2E VMAX ro signed16 {10~24000} 10 "Maximum Velocity"
0x2F WNSERR ro unsigned16 {0~65535} 0 "Phase Finding error response"
0x30 INITGAIN rw signed16 {100~10000} 1000 "WNS initalization Gain"
0x31 IENCSTART rw signed16 {1~100} 25 "WNS Maximum current"
0x32 MJ rw signed32 {1~2000000000} 0 "Motor Inertia"
0x33 UVMODE rw enumerated {0=Fault_Imediatly,1=Warning_Only,2=Fault_Ater_UVTIME} 0 "Under Voltage mode"
0x34 UVTIME rw signed16 {1~300} 30 "Under Voltage time"
0x35 UVRECOVER rw enumerated {0=Need_Clear,1=Automatic} 0 "Under Voltage recovery mode"
0x36 THERM ro enumerated {0=Normal,1=Overheated} 0 "State of motor thermostat"
0x37 THERMODE rw enumerated {0=Disable_Drive,1=Ignore} 0 "Motor Thermostat Action"
0x38 THERMTYPE rw enumerated {0=Positive_Coefficient,1=Negative_Coefficient} 0 "Motor Temperature Sensor Type"
0x39 IZERO rw signed16 {0~100} 25 "ZERO mode C-B current"
0x3A ZERO rw enumerated {0=disabled,1=enabled} 0 "Enable Feedback zeroing mode"
0x3B SININITST ro enumerated {0=Sine_Calibration_Running,1=Sine_Calibration_Done} 0 "Sine-Cosine Calibration status"
0x3C SINPARAM1 ro unsigned16 {0~65535} 0 "SININIT Sine offset"
0x3D SINPARAM2 ro unsigned16 {0~65535} 0 "SININIT Cosine offset"
0X3E SINPARAM3 ro unsigned16 {0~32767} 0 "SININIT Sine gain fix"
0X3F SINPARAM4 ro unsigned16 {0~15} 0 "SININIT Sine gain shift"
0x40 ABSPOSMOD rw enumerated {0=disabled,1=enabled} 0 "Absolute position rollover mode"
0x41 MSININT rw enumerated {1, 2, 4, 8, 16, 32, 64, 128, 256} 256 "Sine encoder interpolation level"
0x42 PFBOFF rw signed32 {*} 0 "Position feedback offset"
0x43 FEEDBACK ro enumerated {0=not_defined, 1=Resolver, 2=Encoder, 3=Sine_encoder} 0 "Feedback Type"
0x44 HALLS ro signed16 {1~6} 0 "Commutation Signals status"
0x4A HWPOS ro signed32 {*} 0 "EnDat Absolute Position"
0x4B RDRES rw unsigned16 {12,14,16} 14 "Resolver Resolution"
0x4C RESBW rw unsigned16 {200~800} 300 "Resolver bandwidth"
0x4D PRD ro unsigned16 {0~65535} 0 "Mechanical angle"
0x4F COMPFILT rw enumerated {0=Filter_Off,1=Filter_on} 1 "Enables or disables 400Hz LPF in the velocity feedback path"
0x50 ENCINITST ro enumerated {0=Not_Running,1=Running,2=Index_Found} 0 "Encoder Index finding process state"
0x51 FOLDD rw signed16 {1~32767} 0 "Foldback decay time"
0x52 FOLDMODE rw unsigned16 {0~2} 0 "Determines the Foldback state reaction"
0x53 FOLDR rw signed16 {1~32767} 0 "Foldback recovery time"
0x54 FOLDT rw signed16 {1~32767} 0 "Foldback initiation time"
0x55 FOLDTIME rw signed16 {1~300} 0 "Time from foldback to fault"
0x57 MBEMF rw unsigned16 {1~3900} 0 "Motor Back-EMF"
0x59 MENCFRAC rw unsigned16 {0~65535} 0 "Sets the fraction value of MENCRES"
0x5A HALLSYNC rw enumerated {0=Off,1=On} 0 "Switches on commutation correction at each hall transition"
#config
MPITCH
MOTORTYPE
MIPEAK
MICONT
MSPEED
MKT
MENCRES
MENCTYPE
MENCOFF
MLMIN
MPHASE
MPOLES
MBEMFCOMP
MLGAINC
MLGAINP
MTANGLC
MTANGLP
MVANGLF
MVANGLH
MHINVA
MHINVB
MHINVC
VBUS
ILIM
ICONT
VLIM
MFBDIR
ANOFF1
ANOFF2
COMPFILT
DIVN
DIVNDIR
DIVNSTART
DIVNSTOP
DIVNSPD
FOLDD
FOLDMODE
FOLDR
FOLDT
FOLDTIME
INITGAIN
IENCSTART
MJ
UVMODE
UVTIME
UVRECOVER
THERMODE
THERMTYPE
IZERO
ABSPOSMOD
MSININT
PFBOFF
RDRES
RESBW
MENCFRAC
HALLSYNC
-1
#end
#"Kollmorgen CD" "1.3.7"
#parameters
0x01 MBEMFCOMP rw signed16 {1~100} 0 "Back EMF compensation percentage"
0x02 DICONT ro signed16 {10~1100} 0 "Drive rated continuous current"
0x03 DIPEAK ro signed16 {10~1100} 0 "Drive rated peak current"
0x04 ICONT rw signed16 {0~1000} 0 "Application rated continuous current"
0x05 ILIM rw signed16 {0~1000} 0 "Application current limit"
0x06 IMAX ro signed16 {0~1000} 0 "System current limit"
0x07 MENCRES rw signed32 {100~10000000} 0 "Motor Encoder Resolution"
0x08 MENCOFF rw signed32 {0~2147483647} 0 "Encoder Index position"
0x09 MICONT rw signed16 {0~11750} 0 "Motor Continous Current"
0x0A MIPEAK rw signed16 {10~3500} 0 "Motor Peak Current"
0x0B MKT rw signed16 {16~64506} 0 "Motor Torque Constant"
0x0C MLGAINC rw signed16 {1~100} 8 "Continous Current Adaptive Gain"
0x0D MLGAINP rw signed16 {1~100} 4 "Peak Current Adaptive Gain"
0x0E MLMIN rw signed16 {1~32767} 0 "Motor Minimum Inductance"
0x0F MPHASE rw signed16 {1~359} 0 "Encoder phase relative to standard"
0x10 MPOLES rw signed16 {2,4,6,8,10} 0 "Motor Poles"
0x11 MSPEED rw signed16 {6~17464} 0 "Maximum Motor speed"
0x12 MTANGLC rw signed16 {0~45} 10 "Continous Torque Commutation Advance"
0x13 MTANGLP rw signed16 {0~45} 23 "Peak Torque Commutation Advance"
0x14 MVANGLF rw signed16 {0~90} 0 "Continous Velocity Advance"
0x15 MVANGLH rw signed16 {0~90} 0 "Peak Velocity Advance"
0x16 PWMFRQ ro signed16 {8,16} 0 "PWM Frequency"
0x17 VBUS rw signed16 {10~850} 24 "Bus Voltage"
0x18 VER ro unsigned32 {*} 0 "Firmware version"
0x19 PFB rw signed32 {*} 0 "Position feedback"
0x1A DIVN rw unsigned16 {*} 0 "Divide By N Period"
0x1B DIVNDIR rw enumerated {0=negative,1=positive} 0 "Divide By N Direction"
0x1C DIVNSTART rw signed32 {*} 0 "Divide By N Start Position"
0x1D DIVNSTOP rw signed32 {*} 0 "Divide By N Stop Position"
0x1E MHINVA rw enumerated {0=not_invert,1=invert} 0 "Hall A Invert"
0x1F MHINVB rw enumerated {0=not_invert,1=invert} 0 "Hall B Invert"
0x20 MHINVC rw enumerated {0=not_invert,1=invert} 0 "Hall C Invert"
0x21 IN ro mask {1=CW,2=CCW,4=Home} 0 "State of Digital Inputs"
0x23 MPITCH rw signed16 {1~500} 0 "Pole-Pitch Distance"
0x24 MENCTYPE rw enumerated {0=ABZ_Halls,4=AB_WNS, 6=AB_Halls} 0 "Motor Encoder Type"
0x25 REMOTE ro enumerated {0=Off,1=On} 0 "State of external hardware enable input"
0x26 DIVNSPD rw signed16 {*} 2 "Maximum speed DIVCFG will work"
0x27 MOTORTYPE rw enumerated {0=Rotary,2=Linear,3=Rotary_AKM} 0 "Motor Type"
0x28 VLIM rw signed16 {10~32767} 10 "maximum velocity"
0x29 MFBDIR rw mask {1=PRD_Direction,2=PFB_Direction,4=Reverse_Initial_Commutation} 0 "Motor Feedback direction"
0x2A ANOFF1 rw signed16 {0~0xFFF0} 0 "Analog input 1 offset"
0x2B ANOFF2 rw signed16 {0~0xFFF0} 0 "Analog input 2 offset"
0x2C ANIN1 ro signed16 {-10000~10000} 0 "Analog input 1 value"
0x2D ANIN2 ro signed16 {-10000~10000} 0 "Analog input 2 value"
0x2E VMAX ro signed16 {10~24000} 10 "Maximum Velocity"
0x2F WNSERR ro unsigned16 {0~65535} 0 "Phase Finding error response"
0x30 INITGAIN rw signed16 {100~10000} 1000 "WNS initalization Gain"
0x31 IENCSTART rw signed16 {1~100} 25 "WNS Maximum current"
0x32 MJ rw signed32 {1~2000000000} 0 "Motor Inertia"
0x33 UVMODE rw enumerated {0=Fault_Imediatly,1=Warning_Only,2=Fault_Ater_UVTIME} 0 "Under Voltage mode"
0x34 UVTIME rw signed16 {1~300} 30 "Under Voltage time"
0x35 UVRECOVER rw enumerated {0=Need_Clear,1=Automatic} 0 "Under Voltage recovery mode"
0x36 THERM ro enumerated {0=Normal,1=Overheated} 0 "State of motor thermostat"
0x37 THERMODE rw enumerated {0=Disable_Drive,1=Ignore} 0 "Motor Thermostat Action"
0x38 THERMTYPE rw enumerated {0=Positive_Coefficient,1=Negative_Coefficient} 0 "Motor Temperature Sensor Type"
0x39 IZERO rw signed16 {0~100} 25 "ZERO mode C-B current"
0x3A ZERO rw enumerated {0=disabled,1=enabled} 0 "Enable Feedback zeroing mode"
0x3B SININITST ro enumerated {0=Sine_Calibration_Running,1=Sine_Calibration_Done} 0 "Sine-Cosine Calibration status"
0x3C SINPARAM1 ro unsigned16 {0~65535} 0 "SININIT Sine offset"
0x3D SINPARAM2 ro unsigned16 {0~65535} 0 "SININIT Cosine offset"
0X3E SINPARAM3 ro unsigned16 {0~32767} 0 "SININIT Sine gain fix"
0X3F SINPARAM4 ro unsigned16 {0~15} 0 "SININIT Sine gain shift"
0x40 ABSPOSMOD rw enumerated {0=disabled,1=enabled} 0 "Absolute position rollover mode"
0x41 MSININT rw enumerated {1, 2, 4, 8, 16, 32, 64, 128, 256} 256 "Sine encoder interpolation level"
0x42 PFBOFF rw signed32 {*} 0 "Position feedback offset"
0x43 FEEDBACK ro enumerated {0=not_defined, 1=Resolver, 2=Encoder, 3=Sine_encoder} 0 "Feedback Type"
0x44 HALLS ro signed16 {1~6} 0 "Commutation Signals status"
0x4A HWPOS ro signed32 {*} 0 "EnDat Absolute Position"
0x4B RDRES rw unsigned16 {12,14,16} 14 "Resolver Resolution"
0x4C RESBW rw unsigned16 {200~800} 300 "Resolver bandwidth"
0x4D PRD ro unsigned16 {0~65535} 0 "Mechanical angle"
0x4F COMPFILT rw enumerated {0=Filter_Off,1=Filter_on} 1 "Enables or disables 400Hz LPF in the velocity feedback path"
0x50 ENCINITST ro enumerated {0=Not_Running,1=Running,2=Index_Found} 0 "Encoder Index finding process state"
0x51 FOLDD rw signed16 {1~32767} 0 "Foldback decay time"
0x52 FOLDMODE rw unsigned16 {0~2} 0 "Determines the Foldback state reaction"
0x53 FOLDR rw signed16 {1~32767} 0 "Foldback recovery time"
0x54 FOLDT rw signed16 {1~32767} 0 "Foldback initiation time"
0x55 FOLDTIME rw signed16 {1~300} 0 "Time from foldback to fault"
0x57 MBEMF rw unsigned16 {1~3900} 0 "Motor Back-EMF"
0x59 MENCFRAC rw unsigned16 {0~65535} 0 "Sets the fraction value of MENCRES"
0x5A HALLSYNC rw enumerated {0=Off,1=On} 0 "Switches on commutation correction at each hall transition"
0x5B IACLPFHZ rw unsigned16 {0~5000} 0 "Low-pass filter on current measurements on phases A and C"
0x5C IBLPFHZ rw unsigned16 {0~5000} 0 "Low-pass filter on current measurements on phase B"
#config
MPITCH
MOTORTYPE
MIPEAK
MICONT
MSPEED
MKT
MENCRES
MENCTYPE
MENCOFF
MLMIN
MPHASE
MPOLES
MBEMFCOMP
MLGAINC
MLGAINP
MTANGLC
MTANGLP
MVANGLF
MVANGLH
MHINVA
MHINVB
MHINVC
VBUS
ILIM
ICONT
VLIM
MFBDIR
ANOFF1
ANOFF2
COMPFILT
DIVN
DIVNDIR
DIVNSTART
DIVNSTOP
DIVNSPD
FOLDD
FOLDMODE
FOLDR
FOLDT
FOLDTIME
INITGAIN
IENCSTART
MJ
UVMODE
UVTIME
UVRECOVER
THERMODE
THERMTYPE
IZERO
ABSPOSMOD
MSININT
PFBOFF
RDRES
RESBW
MENCFRAC
HALLSYNC
IACLPFHZ
IBLPFHZ
-1
#end
#"Kollmorgen CD" "1.3.9"
#parameters
0x01 MBEMFCOMP rw signed16 {1~100} 0 "Back EMF compensation percentage"
0x02 DICONT ro signed16 {10~1100} 0 "Drive rated continuous current"
0x03 DIPEAK ro signed16 {10~1100} 0 "Drive rated peak current"
0x04 ICONT rw signed16 {0~1000} 0 "Application rated continuous current"
0x05 ILIM rw signed16 {0~1000} 0 "Application current limit"
0x06 IMAX ro signed16 {0~1000} 0 "System current limit"
0x07 MENCRES rw signed32 {100~10000000} 0 "Motor Encoder Resolution"
0x08 MENCOFF rw signed32 {0~2147483647} 0 "Encoder Index position"
0x09 MICONT rw signed16 {0~11750} 0 "Motor Continous Current"
0x0A MIPEAK rw signed16 {10~3500} 0 "Motor Peak Current"
0x0B MKT rw signed16 {16~64506} 0 "Motor Torque Constant"
0x0C MLGAINC rw signed16 {1~100} 8 "Continous Current Adaptive Gain"
0x0D MLGAINP rw signed16 {1~100} 4 "Peak Current Adaptive Gain"
0x0E MLMIN rw signed16 {1~32767} 0 "Motor Minimum Inductance"
0x0F MPHASE rw signed16 {1~359} 0 "Encoder phase relative to standard"
0x10 MPOLES rw signed16 {2,4,6,8,10} 0 "Motor Poles"
0x11 MSPEED rw signed16 {6~17464} 0 "Maximum Motor speed"
0x12 MTANGLC rw signed16 {0~45} 10 "Continous Torque Commutation Advance"
0x13 MTANGLP rw signed16 {0~45} 23 "Peak Torque Commutation Advance"
0x14 MVANGLF rw signed16 {0~90} 0 "Continous Velocity Advance"
0x15 MVANGLH rw signed16 {0~90} 0 "Peak Velocity Advance"
0x16 PWMFRQ ro signed16 {8,16} 0 "PWM Frequency"
0x17 VBUS rw signed16 {10~850} 24 "Bus Voltage"
0x18 VER ro unsigned32 {*} 0 "Firmware version"
0x19 PFB rw signed32 {*} 0 "Position feedback"
0x1A DIVN rw unsigned16 {*} 0 "Divide By N Period"
0x1B DIVNDIR rw enumerated {0=negative,1=positive} 0 "Divide By N Direction"
0x1C DIVNSTART rw signed32 {*} 0 "Divide By N Start Position"
0x1D DIVNSTOP rw signed32 {*} 0 "Divide By N Stop Position"
0x1E MHINVA rw enumerated {0=not_invert,1=invert} 0 "Hall A Invert"
0x1F MHINVB rw enumerated {0=not_invert,1=invert} 0 "Hall B Invert"
0x20 MHINVC rw enumerated {0=not_invert,1=invert} 0 "Hall C Invert"
0x21 IN ro mask {1=CW,2=CCW,4=Home} 0 "State of Digital Inputs"
0x23 MPITCH rw signed16 {1~500} 0 "Pole-Pitch Distance"
0x24 MENCTYPE rw enumerated {0=ABZ_Halls,3=AB_AWNS,4=AB_WNS, 6=AB_Halls} 0 "Motor Encoder Type"
0x25 REMOTE ro enumerated {0=Off,1=On} 0 "State of external hardware enable input"
0x26 DIVNSPD rw signed16 {*} 2 "Maximum speed DIVCFG will work"
0x27 MOTORTYPE rw enumerated {0=Rotary,2=Linear,3=Rotary_AKM} 0 "Motor Type"
0x28 VLIM rw signed16 {10~32767} 10 "maximum velocity"
0x29 MFBDIR rw mask {1=PRD_Direction,2=PFB_Direction,4=Reverse_Initial_Commutation} 0 "Motor Feedback direction"
0x2A ANOFF1 rw signed16 {0~0xFFF0} 0 "Analog input 1 offset"
0x2B ANOFF2 rw signed16 {0~0xFFF0} 0 "Analog input 2 offset"
0x2C ANIN1 ro signed16 {-10000~10000} 0 "Analog input 1 value"
0x2D ANIN2 ro signed16 {-10000~10000} 0 "Analog input 2 value"
0x2E VMAX ro signed16 {10~24000} 10 "Maximum Velocity"
0x2F WNSERR ro unsigned16 {0~65535} 0 "Phase Finding error response"
0x30 INITGAIN rw signed16 {100~10000} 1000 "WNS initalization Gain"
0x31 IENCSTART rw signed16 {1~100} 25 "WNS Maximum current"
0x32 MJ rw signed32 {1~2000000000} 0 "Motor Inertia"
0x33 UVMODE rw enumerated {0=Fault_Imediatly,1=Warning_Only,2=Fault_Ater_UVTIME} 0 "Under Voltage mode"
0x34 UVTIME rw signed16 {1~300} 30 "Under Voltage time"
0x35 UVRECOVER rw enumerated {0=Need_Clear,1=Automatic} 0 "Under Voltage recovery mode"
0x36 THERM ro enumerated {0=Normal,1=Overheated} 0 "State of motor thermostat"
0x37 THERMODE rw enumerated {0=Disable_Drive,1=Ignore} 0 "Motor Thermostat Action"
0x38 THERMTYPE rw enumerated {0=Positive_Coefficient,1=Negative_Coefficient} 0 "Motor Temperature Sensor Type"
0x39 IZERO rw signed16 {0~100} 25 "ZERO mode C-B current"
0x3A ZERO rw enumerated {0=disabled,1=enabled} 0 "Enable Feedback zeroing mode"
0x3B SININITST ro enumerated {0=Sine_Calibration_Running,1=Sine_Calibration_Done} 0 "Sine-Cosine Calibration status"
0x3C SINPARAM1 ro unsigned16 {0~65535} 0 "SININIT Sine offset"
0x3D SINPARAM2 ro unsigned16 {0~65535} 0 "SININIT Cosine offset"
0X3E SINPARAM3 ro unsigned16 {0~32767} 0 "SININIT Sine gain fix"
0X3F SINPARAM4 ro unsigned16 {0~15} 0 "SININIT Sine gain shift"
0x40 ABSPOSMOD rw enumerated {0=disabled,1=enabled} 0 "Absolute position rollover mode"
0x41 MSININT rw enumerated {1, 2, 4, 8, 16, 32, 64, 128, 256} 256 "Sine encoder interpolation level"
0x42 PFBOFF rw signed32 {*} 0 "Position feedback offset"
0x43 FEEDBACK ro enumerated {0=not_defined, 1=Resolver, 2=Encoder, 3=Sine_encoder} 0 "Feedback Type"
0x44 HALLS ro signed16 {1~6} 0 "Commutation Signals status"
0x4A HWPOS ro signed32 {*} 0 "EnDat Absolute Position"
0x4B RDRES rw unsigned16 {12,14,16} 14 "Resolver Resolution"
0x4C RESBW rw unsigned16 {200~800} 300 "Resolver bandwidth"
0x4D PRD ro unsigned16 {0~65535} 0 "Mechanical angle"
0x4F COMPFILT rw enumerated {0=Filter_Off,1=Filter_on} 1 "Enables or disables 400Hz LPF in the velocity feedback path"
0x50 ENCINITST ro enumerated {0=Not_Running,1=Running,2=Index_Found} 0 "Encoder Index finding process state"
0x51 FOLDD rw signed16 {1~32767} 0 "Foldback decay time"
0x52 FOLDMODE rw unsigned16 {0~2} 0 "Determines the Foldback state reaction"
0x53 FOLDR rw signed16 {1~32767} 0 "Foldback recovery time"
0x54 FOLDT rw signed16 {1~32767} 0 "Foldback initiation time"
0x55 FOLDTIME rw signed16 {1~300} 0 "Time from foldback to fault"
0x57 MBEMF rw unsigned16 {1~3900} 0 "Motor Back-EMF"
0x59 MENCFRAC rw unsigned16 {0~65535} 0 "Sets the fraction value of MENCRES"
0x5A HALLSYNC rw enumerated {0=Off,1=On} 0 "Switches on commutation correction at each hall transition"
0x5B IACLPFHZ rw unsigned16 {0~5000} 0 "Low-pass filter on current measurements on phases A and C"
0x5C IBLPFHZ rw unsigned16 {0~5000} 0 "Low-pass filter on current measurements on phase B"
0x5D INITTIME rw unsigned16 {108~16000} 0 "WNS process timer"
0x5E RMTMODE rw unsigned16 {0~1} 0 "Remote Enable usage"
#config
MPITCH
MOTORTYPE
MIPEAK
MICONT
MSPEED
MKT
MENCRES
MENCTYPE
MENCOFF
MLMIN
MPHASE
MPOLES
MBEMFCOMP
MLGAINC
MLGAINP
MTANGLC
MTANGLP
MVANGLF
MVANGLH
MHINVA
MHINVB
MHINVC
VBUS
ILIM
ICONT
VLIM
MFBDIR
ANOFF1
ANOFF2
COMPFILT
DIVN
DIVNDIR
DIVNSTART
DIVNSTOP
DIVNSPD
FOLDD
FOLDMODE
FOLDR
FOLDT
FOLDTIME
INITGAIN
IENCSTART
MJ
UVMODE
UVTIME
UVRECOVER
THERMODE
THERMTYPE
IZERO
ABSPOSMOD
MSININT
PFBOFF
RDRES
RESBW
MBEMF
MENCFRAC
HALLSYNC
IACLPFHZ
IBLPFHZ
INITTIME
RMTMODE
-1
#end
6. Appendix: Sample Drive Configuration File
This parameter file was used on a 3Amp CD SynqNet supporting quadrature
encoder feedback (LE03565), driving an AKM21G motor.
# sqNode[0] drive[0] "Kollmorgen CD" "1.3.9"
MPITCH 32
MOTORTYPE 0
MIPEAK 124
MICONT 31
MSPEED 7000
MKT 331
MENCRES 2048
MENCTYPE 6
MENCOFF 0
MLMIN 520
MPHASE 0
MPOLES 6
MBEMFCOMP 0
MLGAINC 10
MLGAINP 6
MTANGLC 10
MTANGLP 25
MVANGLF 20
MVANGLH 10
MHINVA 0
MHINVB 0
MHINVC 0
VBUS 325
ILIM 1000
ICONT 333
VLIM 7000
MFBDIR 0
ANOFF1 0
ANOFF2 0
COMPFILT 1
DIVN 0
DIVNDIR 1
DIVNSTART 0
DIVNSTOP 0
DIVNSPD 2
FOLDD 1000
FOLDMODE 0
FOLDR 17000
FOLDT 1450
FOLDTIME 30
INITGAIN 750
IENCSTART 50
MJ 11
UVMODE 0
UVTIME 30
UVRECOVER 0
THERMODE 0
THERMTYPE 0
IZERO 25
ABSPOSMOD 0
MSININT 256
PFBOFF 0
RDRES 14
RESBW 300
MBEMF 20
MENCFRAC 0
HALLSYNC 0
IACLPFHZ 3000
IBLPFHZ 3000
INITTIME 200
RMTMODE 0
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